This information is part of the Modelica Standard Library maintained by the Modelica Association.

Basic model for Coulomb friction that models the stuck phase in a reliable way.

This procedure is implemented in a "clean" way by state events and leads to a mixed continuous/discrete systems of equations if friction elements are dynamically coupled which have to be solved by appropriate numerical methods. The method is described in (see also a short sketch in UsersGuide.ModelingOfFriction):

Otter M., Elmqvist H., and Mattsson S.E. (1999):

Hybrid Modeling in Modelica based on the Synchronous Data Flow Principle. CACSD'99, Aug. 22.-26, Hawaii.